#ifndef MOTION_ESTIMATION_H_
#define MOTION_ESTIMATION_H_
#include <math.h>
#include <chrono>
#include "common/data_pool.h"
// #include "common/log.h"

namespace perception
{
    namespace motion_estimation
    {
        class MotionEstimation
        {
        private:
            bool MatchTime(Localization &loc, VehicleStatus &vs);
            float GetYawDelta(Localization &loc);
            float old_yaw = 0;

        public:
            MotionEstimation(/* args */);
            ~MotionEstimation();
            void Process(XYZI_PTR &data_in, XYZI_PTR &data_out, Localization &loc, VehicleStatus &vs, double &lidar_time);
        };
    }
}
#endif